CN109895116B - Power pipe gallery track robot patrol inspection method and device - Google Patents
Power pipe gallery track robot patrol inspection method and device Download PDFInfo
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- CN109895116B CN109895116B CN201910271944.5A CN201910271944A CN109895116B CN 109895116 B CN109895116 B CN 109895116B CN 201910271944 A CN201910271944 A CN 201910271944A CN 109895116 B CN109895116 B CN 109895116B
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Abstract
The application discloses a power pipe gallery track robot inspection method and a device, wherein a power pipe gallery to be inspected is divided into a plurality of inspection areas, after an inspection instruction is received, the pose of the track robot is adjusted, the track robot performs image shooting on the power pipe gallery area from the inspection starting point to the end point or from the end point to the starting point of the power pipe gallery to be inspected to a single inspection area each time, and transmits the image to a background server for power safety detection analysis processing, therefore, the inspection method provided by the application can cover all the inspection areas of the power pipe gallery, a power pipe gallery inspection system can detect the power safety condition of the whole power pipe gallery, the reliability is high, the condition that the conventional fixed-point inspection mode can only perform power equipment operation state inspection on the planned position of the pipe gallery is avoided, the intelligent inspection degree is lower, the comprehensive coverage of the power pipe gallery can not be inspected, and the inspection reliability is not high.
Description
Technical Field
The application relates to the technical field of robot inspection, in particular to a method and a device for inspecting a power pipe gallery track robot.
Background
With the wide application of cables in urban power grids, a power pipe gallery becomes one of the main channels for cable laying. Due to the complexity of city construction and the shortage of line corridor resources, the operating environment inside the power pipe gallery often faces the influence of various objective factors, such as ground construction, liquid leakage, poor ventilation, limited internal space and the like, all can directly influence the operating condition of the cable equipment, and is also not favorable for maintenance personnel to carry out routing inspection work. Therefore, how to effectively monitor the operating condition of the power pipe gallery, the inspection efficiency of the maintenance personnel is improved, and the research focus of the power technical personnel is achieved.
Traditional power pipe gallery patrols and examines the mode and patrols with the manual work and regards as the owner, and fortune dimension personnel regularly patrol ground and the pipe gallery inside, mainly inspect the cable body or generate heat the condition such as phenomenon, cable support, tunnel environment in the pipe gallery, inefficiency, and daylighting and ventilation condition are limited in the tunnel, cause the threat to staff's health safety. In order to solve the above defects, the prior art provides a track robot for pipe gallery inspection, wherein a guide rail erected on the upper portion of a pipe gallery moves forward, the environment of the pipe gallery is detected through a mounted image device, a rotating pan-tilt is utilized to realize large-scale monitoring, a fixed-point inspection mode is adopted, a fixed inspection plan is used for driving to a set position to take a picture of specific equipment or other objects in a set time according to a set inspection plan, and then the picture is filed for inspection or sent to a remote worker for inspection. But the mode that the fixed point was patrolled and examined only can carry out the power equipment running state to appointed piping lane position and patrol and examine, can't accomplish to carry out comprehensive coverage to the electric power running state of whole piping lane and patrol and examine, and the intelligent degree of patrolling and examining is lower, and the reliability is not high.
Disclosure of Invention
The embodiment of the application provides a method and a device for patrolling and examining power pipe gallery track robot, which are used for solving the problems that the fixed point patrolling and examining mode of the existing pipe gallery patrolling and examining track robot is low in intelligent patrolling and examining degree, the power pipe gallery cannot be patrolled and examined in a comprehensive coverage mode, and the patrolling and examining reliability is not high.
In view of the above, the first aspect of the present application provides a method for patrolling a power pipe gallery track robot, where the track robot is installed on an patrol track on a power pipe gallery, the track robot includes a video pan-tilt capable of 360-degree turning and a height-adjustable mechanical arm, and includes the following steps:
101. dividing the pipe wall of the power pipe gallery to be inspected into a plurality of inspection areas, wherein the length of each inspection area is the inspection length of the power pipe gallery to be inspected;
102. adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area;
103. the track robot is controlled to travel from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, and images of a single inspection area are shot in real time and transmitted to a background server;
104. readjusting the pose of the track robot after the track robot travels to the inspection end point so that the photographing angle of the track robot covers the width of another single inspection area;
105. controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting the image of the other single inspection area in real time and transmitting the image to a background server;
106. and detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, otherwise, returning to the step 102 until all the inspection areas are traversed.
Preferably, after step 106, the method further comprises:
107. all the images received by the background server are spliced, and the obtained whole complete image of the power pipe gallery to be patrolled and examined is subjected to power safety detection.
Preferably, the plurality of inspection areas are six equally divided inspection areas.
Preferably, after step 101 and before step 102, the method further comprises:
1012. and adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm, and initializing the pose of the track robot.
Preferably, step 102 is preceded by:
100. detect whether the light intensity of waiting to patrol and examine the power pipe gallery satisfies the shooting light intensity of track robot, if not, then open light filling lamp on the track robot.
Preferably, after the image of the single inspection area is transmitted to the background server, the method further includes:
and carrying out electric power safety detection of the single inspection area on the image.
This application second aspect still provides a power pipe gallery track robot inspection device, track robot installs on the track of patrolling and examining on the power pipe gallery, track robot is including the video cloud platform and the arm of height-adjustable that can 360 degrees upsets, including following module:
the region dividing module is used for dividing the pipe wall of the power pipe gallery to be patrolled into a plurality of patrolling regions, and the length of each patrolling region is the patrolling length of the power pipe gallery to be patrolled;
the first pose module is used for adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area;
the first control module is used for controlling the track robot to move from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, shooting images of a single inspection area in real time and transmitting the images to the background server;
a second pose module for readjusting the pose of the track robot after the track robot travels to the inspection end point so that the photographing angle of the track robot covers the width of another single inspection area;
the second control module is used for controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting the image of the other single inspection area in real time and transmitting the image to the background server;
and the judging module is used for detecting whether the polling of all the polling areas is finished, if so, stopping polling and waiting for a next polling instruction, otherwise, re-triggering the first position module until all the polling areas are traversed.
Preferably, the method further comprises the following steps:
the detection module is used for splicing all the images received by the background server and carrying out electric power safety detection on the obtained complete image of the whole to-be-patrolled power pipe gallery;
the light filling module is used for detecting whether the light intensity of the power pipe gallery to be patrolled and examined meets the shooting light intensity of the track robot, if not, the light filling lamp on the track robot is opened.
Preferably, the region dividing module and the first attitude module further include:
and the initialization module is used for adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm and initializing the pose of the track robot.
Preferably, the first control module and the second control module are further configured to:
and carrying out electric power safety detection of the single inspection area on the image.
According to the technical scheme, the embodiment of the application has the following advantages:
in this application, a method is patrolled and examined to power pipe gallery track robot is provided, and track robot installs on the track of patrolling and examining on the power pipe gallery, and track robot includes video cloud platform and the arm of height-adjustable that can 360 degrees upsets, includes following step: 101. dividing the pipe wall of the power pipe gallery to be patrolled into a plurality of patrolling areas, wherein the length of each patrolling area is the patrolling length of the power pipe gallery to be patrolled; 102. adjusting the pose of the track robot according to the acquired patrol instruction, so that the shooting angle of the track robot covers the width of a single patrol area; 103. the track robot is controlled to move from a patrol starting point to a patrol terminal point of the power pipe gallery to be patrolled along the patrol track, and images of a single patrol area are shot in real time and transmitted to the background server; 104. when the track robot travels to the inspection terminal, the pose of the track robot is readjusted, so that the shooting angle of the track robot covers the width of another single inspection area; 105. the track robot is controlled to move from the inspection end point to the inspection starting point along the inspection track, and an image of the other single inspection area is shot in real time and transmitted to the background server; 106. and detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, otherwise, returning to the step 102 until all the inspection areas are traversed.
The inspection method of the power pipe gallery track robot divides a power pipe gallery to be inspected into a plurality of inspection areas, adjusts the pose of the track robot after receiving an inspection instruction, enables the track robot to perform image shooting on the power pipe gallery area from an inspection starting point to a terminal point or from the terminal point to the starting point of the power pipe gallery to be inspected every time for a single inspection area, and transmits the image to a background server for power safety detection analysis processing, therefore, the inspection method provided by the application can cover all the inspection areas of the power pipe gallery, enables a power pipe gallery inspection system to detect the power safety condition of the whole power pipe gallery, has high reliability, avoids the existing fixed-point inspection mode that only can perform power equipment running state inspection on the formulated position of the pipe gallery, has lower intelligent inspection degree, and can not perform comprehensive coverage on the power pipe gallery, leading to the technical problem of low routing inspection reliability.
Drawings
Fig. 1 is a schematic flowchart of a first embodiment of a power pipe gallery track robot inspection method provided in the present application;
fig. 2 is a schematic flowchart of a second embodiment of a power pipe gallery rail robot inspection method provided in the present application;
fig. 3 is a schematic flowchart of a third embodiment of a power pipe gallery rail robot inspection method provided in the present application;
fig. 4 is a schematic structural diagram of an embodiment of the power pipe gallery rail robot inspection device provided by the present application;
fig. 5 is a schematic diagram of dividing an inspection area of a power pipe gallery to be inspected, which is provided in the embodiment of the present application;
fig. 6 is a schematic structural diagram of an orbital robot provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to facilitate understanding, please refer to fig. 1, the present application provides a first embodiment of a method for inspecting a power pipe gallery track robot, in which the track robot is installed on an inspection track on a power pipe gallery, the track robot includes a video pan-tilt capable of 360 degrees turning and a mechanical arm with adjustable height, and includes the following steps:
It should be noted that, in this application embodiment, set up on the pipe wall of electric power piping lane and patrol and examine the track, track robot passes through sliding bottom and patrols and examines track sliding connection, can move on patrolling and examining the track, be provided with the video cloud platform on the track robot, the video cloud platform can 360 degrees upsets, can realize shooing 360 degrees pipe walls of pipe gallery, the video cloud platform is connected with sliding bottom through height-adjustable's arm, the arm has a plurality of degrees of freedom, through the upset to the video cloud platform and the adjustment of adjustable arm, can be with the shooting position and pose control of track robot at appointed position and pose, one of them structure schematic diagram of track robot is shown in fig. 6. In the embodiment of this application, at first will wait to patrol and examine the pipe wall of power pipe gallery and divide into a plurality of regions of patrolling and examining, every length of patrolling and examining regional for waiting to patrol and examine the length of patrolling and examining of power pipe gallery, it is the length of patrolling and examining the starting point to patrolling and examining the terminal point that power pipe gallery patrols and examining length promptly, as shown in fig. 5, fig. 5 is waiting to patrol and examine the regional division schematic diagram of patrolling and examining of power pipe gallery. It can be understood that, when the inspection area is divided, the number of the divided inspection areas may be odd or even, and the division of the inspection area into a plurality of inspection areas in the embodiment of the present application is a preferred scheme, so that the track robot can return to the starting position after completing the inspection work of all the inspection areas.
It should be further noted that the method for inspecting the track robot provided by the application is also suitable for inspecting the wheel robot, and for the personnel in the field, as long as the video holder is also capable of being turned over and the mechanical arm is adjustable, the inspection method provided by the embodiment of the application can be used for inspecting the power of the power pipe gallery.
And 102, adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area.
It should be noted that, in the embodiment of the present application, when the inspection of the power pipe gallery to be inspected is required, the pose of the track robot is adjusted according to the inspection instruction obtained in real time, so that the shooting angle of the track robot can cover the width of a single inspection area, for example, after the inspection instruction is obtained, one of the inspection areas (which may be pre-designated or randomly selected) is selected as the initial inspection area in all the divided inspection areas, the shooting angle of the track robot is adjusted to an angle perpendicular to the initial inspection area, so that the shooting angle of the track robot is at the optimal shooting angle, the mechanical arm of the track robot is adjusted, so that the shooting height of the track robot is at the optimal shooting height, so that the shooting angle of the track robot can cover the width of the initial inspection area, the conditions of incomplete or dislocation of the patrol shot image and the like are avoided, and the detection is influenced.
And 103, controlling the track robot to move from the inspection starting point of the power pipe gallery to be inspected to the inspection terminal point along the inspection track, shooting images of a single inspection area in real time and transmitting the images to the background server.
It should be noted that, in this embodiment of the application, after adjusting the patrol and examine pose of the track robot, can drive the track robot to advance to the terminal point of patrolling and examining from the power pipe gallery of waiting to patrol and examine along patrolling and examining the track under the drive of motor, will patrol and examine the power pipe gallery that the terminal point in-process was shot in real time to the starting point and patrol and examine the image and return background server and carry out storage analysis. It can be understood that the track robot is required to be located at the inspection starting point before inspection, and if the track robot is not located at the inspection starting point, the track robot can be driven to return to the inspection starting point.
And step 104, after the track robot travels to the inspection terminal, readjusting the pose of the track robot so that the shooting angle of the track robot covers the width of another single inspection area.
It should be noted that, in the embodiment of the present application, after the track robot travels from the inspection starting point to the inspection end point, or travels from the inspection end point to the inspection starting point, the inspection shooting operation of one inspection area is completed, and at this time, the pose of the track robot needs to be readjusted, so that the shooting angle of the track robot covers the width of another single inspection area.
And 105, controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting an image of another single inspection area in real time and transmitting the image to the background server.
It should be noted that, in this embodiment of the application, after the initial routing inspection of the routing inspection area is completed, routing inspection shooting of another single routing inspection area needs to be performed, at this time, the track robot is located at the routing inspection end point, the pose of the track robot needs to be adjusted again, the track robot is controlled to travel from the routing inspection end point to the routing inspection start point, and an image is shot in real time in another single routing inspection area in the traveling process and is transmitted back to the background server for storage.
And step 106, detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, otherwise, returning to the step 102 until all the inspection areas are traversed.
It should be noted that, in this embodiment of the application, after the track robot returns from the inspection end point to the inspection start point (of course, it may also be that the inspection start point travels to the inspection end point), it is required to detect whether all the inspection areas have been inspected, if all the inspection areas have been inspected once, the inspection work of the power pipe gallery to be inspected is completed, at this time, the inspection task should be terminated, a next inspection instruction is waited, and if there are inspection areas that have not been inspected, it is required to return to step 102 to continue the inspection work of the next single inspection area until all the inspection areas have been inspected by inspection, and then the inspection is terminated.
The inspection method of the power pipe gallery track robot provided by the embodiment of the application divides the power pipe gallery to be inspected into a plurality of inspection areas, adjusts the pose of the track robot after receiving an inspection instruction, enables the track robot to perform image shooting on the power pipe gallery area from the inspection starting point to the end point or from the end point to the starting point of the power pipe gallery to be inspected in each single inspection area, and transmits the image to the background server for power safety detection analysis processing, so that the inspection method provided by the application can cover all the inspection areas of the power pipe gallery, enables the power pipe gallery inspection system to detect the power safety condition of the whole power pipe gallery, has high reliability, avoids the existing fixed point inspection mode only being capable of performing power equipment operation state inspection on the set pipe gallery position, and has lower intelligent inspection degree, the comprehensive coverage of the power pipe gallery can not be inspected, and the inspection reliability is not high.
For easy understanding, please refer to fig. 2, the present application provides a second embodiment of a power pipe gallery rail robot inspecting method, including:
Furthermore, the plurality of inspection areas are six equally divided inspection areas.
It should be noted that the robot can move on the inspection track through sliding base and inspection track sliding connection, the video cloud platform is arranged on the track robot, the video cloud platform can turn 360 degrees, 360-degree pipe walls of the pipe gallery can be shot, the video cloud platform is connected with the sliding base through a mechanical arm with adjustable height, the mechanical arm has multiple degrees of freedom, and shooting pose of the track robot can be controlled at an appointed pose through turning of the video cloud platform and adjustment of the adjustable mechanical arm. In the embodiment of this application, the pipe wall that will wait to patrol and examine the power pipe gallery is divided into six equant divisions at first and is patrolled and examined the region, every length of patrolling and examining the region is for waiting to patrol and examine the length of patrolling and examining the power pipe gallery, it is the length of patrolling and examining the starting point to patrolling and examining the terminal point of power pipe gallery promptly to patrol and examine length, as shown in fig. 5, fig. 5 is for waiting to patrol and examine the regional division schematic diagram that patrols and examines of power pipe gallery, the cross-section of power pipe gallery is the class circle, it is divided into six equant divisions and is patrolled and examined the region, every cover width of patrolling and examining the region is 60 degrees.
It should be noted that, in the embodiment of the present application, the pose of the track robot needs to be initialized, and the pose of the track robot needs to be adjusted to a preset initial state. Because the inside light brightness of electric power piping lane and the degree of consistency effect can not satisfy the shooting light demand, in order to guarantee the effect of the image of shooing, improve later stage image processing's efficiency and detect the reliability in order to promote, can also be provided with the dull and stereotyped light filling lamp of big flux around the video cloud platform of track robot in the embodiment of this application, when the pipeline intensity that waits to patrol and examine in the electric power piping lane can not satisfy shooting light intensity, the control light filling lamp is opened, provide even light.
It should be further noted that, in the embodiment of the present application, step 202 and step 203 may be performed simultaneously, step 202 may be performed first, or step 203 may be performed first, and the specific setting may be performed according to an actual application.
And 204, adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area.
It should be noted that, in the embodiment of the present application, step 204 is the same as step 102 in the previous embodiment, and is not described in detail here.
And step 205, controlling the track robot to move from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, shooting images of a single inspection area in real time and transmitting the images to the background server, and performing electric power safety detection on the images of the single inspection area.
It should be noted that, in this embodiment of the application, after the inspection pose of the track robot is adjusted, the track robot can be driven by the motor to travel from the inspection starting point of the power pipe gallery to be inspected to the inspection end point along the inspection track, the image of the power pipe gallery shot in real time from the inspection starting point to the inspection end point is transmitted to the background server for storage and analysis, the power safety detection of a single inspection area is performed on the image, and anomaly detection can be performed through observation or an image recognition mode based on machine vision.
And step 206, after the track robot travels to the inspection terminal, readjusting the pose of the track robot so that the shooting angle of the track robot covers the width of another single inspection area.
It should be noted that, in the embodiment of the present application, step 206 is identical to step 104 in the first embodiment, and details are not described herein again.
And step 207, controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting an image of another single inspection area in real time and transmitting the image to the background server.
It should be noted that, in the embodiment of the present application, step 207 is the same as step 105 in the first embodiment, and details are not repeated here.
And 208, detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, otherwise, returning to the step 204 until all the inspection areas are traversed.
It should be noted that, in the embodiment of the present application, step 208 is identical to step 106 in the first embodiment, and details are not repeated here.
For easy understanding, please refer to fig. 3, the present application provides a third embodiment of a power pipe gallery rail robot inspecting method, including:
Furthermore, the plurality of inspection areas are six equally divided inspection areas.
It should be noted that, in the embodiment of this application, it patrols and examines the track to have set up on the pipe wall of electric power piping lane, track robot passes through sliding bottom and patrols and examines track sliding connection, can remove on patrolling and examining the track, be provided with the video cloud platform on the track robot, the video cloud platform can 360 degrees upsets, can realize shooing 360 degrees pipe walls of piping lane, the video cloud platform is connected with sliding bottom through height-adjustable's arm, the arm has a plurality of degrees of freedom, through the upset to the video cloud platform and the adjustment of adjustable arm, can be with the shooting position appearance control of track robot at appointed position appearance. In the embodiment of this application, the pipe wall that will wait to patrol and examine the power pipe gallery is divided into six equant divisions at first and is patrolled and examined the region, every length of patrolling and examining the region is for waiting to patrol and examine the length of patrolling and examining the power pipe gallery, it is the length of patrolling and examining the starting point to patrolling and examining the terminal point of power pipe gallery promptly to patrol and examine length, as shown in fig. 5, fig. 5 is for waiting to patrol and examine the regional division schematic diagram that patrols and examines of power pipe gallery, the cross-section of power pipe gallery is the class circle, it is divided into six equant divisions and is patrolled and examined the region, every cover width of patrolling and examining the region is 60 degrees.
And 302, adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm, and initializing the pose of the track robot.
It should be noted that, in the embodiment of the present application, the pose of the track robot needs to be initialized, and the pose of the track robot needs to be adjusted to a preset initial state. Because the inside light brightness of electric power piping lane and the degree of consistency effect can not satisfy the shooting light demand, in order to guarantee the effect of the image of shooing, improve later stage image processing's efficiency and detect the reliability in order to promote, can also be provided with the dull and stereotyped light filling lamp of big flux around the video cloud platform of track robot in the embodiment of this application, when the pipeline intensity that waits to patrol and examine in the electric power piping lane can not satisfy shooting light intensity, the control light filling lamp is opened, provide even light.
It should be further noted that, in the embodiment of the present application, step 302 and step 303 may be performed simultaneously, step 302 may be performed first, or step 303 may be performed first, and the specific setting may be performed according to an actual application.
And 304, adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area.
It should be noted that, in the embodiment of the present application, step 304 is the same as step 102 in the first embodiment, and details are not repeated here.
And 305, controlling the track robot to travel from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, shooting the image of the single inspection area in real time and transmitting the image to the background server.
It should be noted that step 305 in the present embodiment is identical to step 103 in the first embodiment, and details are not repeated here.
And step 306, after the track robot travels to the inspection terminal, readjusting the pose of the track robot so that the shooting angle of the track robot covers the width of another single inspection area.
It should be noted that, in the embodiment of the present application, step 306 is the same as step 104 in the first embodiment, and details are not described herein again.
And 307, controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting an image of another single inspection area in real time and transmitting the image to the background server.
It should be noted that, in the embodiment of the present application, step 307 is identical to step 105 in the first embodiment, and is not described in detail herein.
And 308, detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, and otherwise, returning to the step 304 until all the inspection areas are traversed.
It should be noted that, in the embodiment of the present application, step 308 is identical to step 106 in the first embodiment, and is not described in detail here.
And 309, splicing all the images received by the background server, and performing electric power safety detection on the obtained complete image of the whole to-be-patrolled power pipe gallery.
It should be noted that, in the embodiment of the present application, after all the inspection areas are inspected, the images shot by all the inspection areas and received by the background server are spliced, so that the whole complete image of the whole to-be-inspected power pipe gallery can be obtained, the complete image of the to-be-inspected power pipe gallery is observed or subjected to image recognition detection processing, that is, the safe operation state of the power pipe gallery can be detected, whether an abnormal condition exists or not is determined, and corresponding abnormal processing is guided.
In order to facilitate understanding, an application example of the power pipe gallery rail robot patrol inspection method is further provided in the embodiment of the application, and specifically includes the following steps:
as shown in fig. 5, the pipe wall of the power pipe gallery is divided into six inspection areas, namely, six equal parts, namely, upper left, middle left, lower right, middle right and upper right, each time of traveling is used for inspecting one of the inspection areas, and the inspection task of the whole power pipe gallery can be completed through three-time round-trip inspection shooting. Arrange the dull and stereotyped light filling lamp of big flux around the video cloud platform and can guarantee the image effect of gathering to the photo of observing even light of target shooting, improve later stage image processing's efficiency in order to promote detection effect.
1. When the track robot receives the inspection task, initializing an inspection pose of the starting position, unfolding the mechanical arm from the initial position to the position and the posture adopted during inspection, rotating the video cloud deck to the left until the shooting visual angle of the camera is perpendicular to the upper left inspection area of the pipe gallery, and turning on a light supplement lamp;
2. the track robot starts to move towards the inspection terminal under the driving of the motor, and when the track robot moves, the image of the inspection area on the left upper part of the power pipe gallery is shot, and the shot image is transmitted to a master control end background server for image storage and splicing;
3. after the track robot reaches the end point, the position and the posture of the mechanical arm are kept unchanged, and the video holder is only required to rotate downwards by 60 degrees in an anticlockwise mode, so that the shooting visual angle of the camera is perpendicular to the left middle inspection area of the power pipe gallery;
4. the track robot starts to reversely advance to the inspection starting point under the driving of the motor, shoots the inspection area image in the left middle of the power pipe gallery while proceeding, and transmits the shot image to the main control end background server for image storage and splicing;
5. after the track robot moves to the inspection starting point, the position and the posture of the mechanical arm are kept unchanged, and the video holder is only required to rotate downwards and anticlockwise by 60 degrees, so that the shooting visual angle of the camera is perpendicular to the lower left inspection area of the power pipe gallery;
6. the track robot starts to move towards the inspection terminal under the driving of the motor, shoots an image of the left lower inspection area of the power pipe gallery while moving, and transmits the shot image to a master control end background server for image storage and splicing;
7. after the track robot reaches the end point, the position and the posture of the mechanical arm are kept unchanged, and the video holder is only required to be rotated upwards and anticlockwise by 60 degrees, so that the shooting visual angle of the camera is perpendicular to the lower right routing inspection area of the power pipe gallery;
8. the track robot starts to reversely advance to the inspection starting point under the driving of the motor, shoots the right lower inspection area image of the power pipe gallery while proceeding, and transmits the shot image to the main control end background server for image storage and splicing;
9. after the track robot moves to the inspection starting point, the position and the posture of the mechanical arm are kept unchanged, and the video holder is only required to rotate upwards and anticlockwise by 60 degrees, so that the shooting visual angle of the camera is perpendicular to the right middle inspection area of the power pipe gallery;
10. the track robot starts to move towards the inspection terminal under the driving of the motor, and when the track robot moves, the image of the inspection area in the right middle of the power pipe gallery is shot, and the shot image is transmitted to the master control end background server for image storage and splicing;
11. after the track robot reaches the end point, the position and the posture of the mechanical arm are kept unchanged, and the video holder is only required to be rotated upwards and anticlockwise by 60 degrees, so that the shooting visual angle of the camera is perpendicular to the upper right routing inspection area of the power pipe gallery;
12. the track robot starts to reversely advance to the inspection starting point under the driving of the motor, shoots an image of the inspection area at the upper right of the power pipe gallery while proceeding, and transmits the shot image to a master control end background server for image storage and splicing;
after the six inspection regions are inspected and shot, the inspection task of the power pipe gallery is completed, the six inspection regions are spliced into a complete 360-degree complete inspection picture, and abnormal judgment is made on inspection results of the power pipe gallery through an observation mode or an image recognition mode.
In addition, it should be noted that, in the power pipe gallery, there may be a fire door or other obstacles, and therefore, it is also necessary to provide an obstacle avoidance function for the track robot, and in the inspection process, when the track robot inspects for approaching the fire door, the track robot is controlled to decelerate until stopping, and the mechanical arm and the video pan-tilt are adjusted to the initial state, and after the robot passes through the safety distance of the fire door, the mechanical arm and the video pan-tilt are restored to the pose before restoring the initial state, and the inspection shooting work is continued.
Of course, special road sections such as slopes and turning positions may exist in the power pipe gallery, when the track robot inspects the special road sections of the power pipe gallery, the track robot needs to stop and finely adjust the poses of the mechanical arm and the video holder, the shooting visual angle of the camera is perpendicular to the pipe wall of the current inspection area, the camera passes through the special road sections at a low speed, and after inspection of the special road sections is finished, the track robot is restored to the original inspection state to continue inspection and shooting.
For easy understanding, please refer to fig. 4, an embodiment of a power pipe gallery track robot inspection device provided in the present application, the track robot is installed on an inspection track on a power pipe gallery, the track robot includes a video pan-tilt that can be turned 360 degrees and a mechanical arm with adjustable height, including the following modules:
the area division module 401 is used for dividing the pipe wall of the power pipe gallery to be patrolled into a plurality of patrol areas, and the length of each patrol area is the patrol length of the power pipe gallery to be patrolled.
And the first pose module 402 is configured to adjust the pose of the track robot according to the obtained inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area.
The first control module 403 is used for controlling the track robot to travel to the inspection end point from the inspection starting point of the power pipe gallery to be inspected along the inspection track, shoot a single image of the inspection area in real time and transmit the image to the background server.
And a second pose module 404, configured to readjust the pose of the rail robot after the rail robot travels to the inspection end point, so that the shooting angle of the rail robot covers the width of another single inspection area.
And the second control module 405 is used for controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting the image of another single inspection area in real time and transmitting the image to the background server.
And the judgment module 406 is used for detecting whether the polling of all the polling areas is finished, if so, terminating the polling and waiting for the next polling instruction, otherwise, re-triggering the first position module until all the polling areas are traversed.
Further still include:
and the detection module 407 is used for splicing all the images received by the background server and performing electric power safety detection on the obtained whole complete image of the power pipe gallery to be patrolled and examined.
Light filling module 408 for whether the light intensity that detects to wait to patrol and examine the power pipe gallery satisfies the shooting light intensity of track robot, if no, then open the light filling lamp on the track robot.
Further, the area division module 401 and the first pose module 402 further include:
and the initialization module 409 is used for adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm and initializing the pose of the track robot.
Further, the first control module 403 and the second control module 405 are further configured to:
and carrying out electric power safety detection of a single patrol area on the image.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. The utility model provides a method is patrolled and examined to power pipe gallery track robot, the track robot is installed on patrolling and examining the track on the power pipe gallery, the track robot includes video cloud platform and the arm of height-adjustable that can 360 degrees upsets, its characterized in that includes following steps:
101. dividing the pipe wall of the power pipe gallery to be patrolled into a plurality of patrolling areas, wherein the length of each patrolling area is the patrolling length of the power pipe gallery to be patrolled, and patrolling is not required to be carried out according to the sequence of dividing the areas;
102. adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area;
103. the track robot is controlled to travel from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, and images of a single inspection area are shot in real time and transmitted to a background server;
104. readjusting the pose of the track robot after the track robot travels to the inspection end point so that the photographing angle of the track robot covers the width of another single inspection area;
105. controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting the image of the other single inspection area in real time and transmitting the image to a background server;
106. detecting whether the inspection of all the inspection areas is finished, if so, terminating the inspection, waiting for the next inspection instruction, otherwise, returning to the step 102 until all the inspection areas are traversed;
107. and after all the images received by the background server are spliced, generating a 360-degree complete inspection image formed by the plurality of inspection area shooting images, and performing electric power safety detection on the generated complete inspection image.
2. The power pipe gallery orbital robot inspecting method according to claim 1, wherein the plurality of inspecting areas are six equally divided inspecting areas.
3. The inspection method for the power pipe gallery rail robot according to claim 1, wherein step 101 is followed by step 102 and further comprises:
1012. and adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm, and initializing the pose of the track robot.
4. The power pipe gallery orbital robot patrol method according to claim 1, characterized by further comprising, before step 102:
100. detect whether the light intensity of waiting to patrol and examine the power pipe gallery satisfies the shooting light intensity of track robot, if not, then open light filling lamp on the track robot.
5. The power pipe gallery orbital robot patrol method according to claim 1, wherein after transmitting the image of the single patrol area to the background server, further comprising:
and carrying out electric power safety detection of the single inspection area on the image.
6. The utility model provides a power pipe gallery track robot inspection device, track robot installs on the track of patrolling and examining on the power pipe gallery, track robot includes video cloud platform and the arm of height-adjustable that can 360 degrees upsets, its characterized in that includes following module:
the region dividing module is used for dividing the pipe wall of the power pipe gallery to be patrolled into a plurality of patrolling regions, the length of each patrolling region is the patrolling length of the power pipe gallery to be patrolled, and the patrolling is not required to be carried out according to the sequence of dividing the regions;
the first pose module is used for adjusting the pose of the track robot according to the acquired inspection instruction, so that the shooting angle of the track robot covers the width of a single inspection area;
the first control module is used for controlling the track robot to move from the inspection starting point to the inspection end point of the power pipe gallery to be inspected along the inspection track, shooting images of a single inspection area in real time and transmitting the images to the background server;
a second pose module for readjusting the pose of the track robot after the track robot travels to the inspection end point so that the photographing angle of the track robot covers the width of another single inspection area;
the second control module is used for controlling the track robot to move from the inspection end point to the inspection starting point along the inspection track, shooting the image of the other single inspection area in real time and transmitting the image to the background server;
the judging module is used for detecting whether the polling of all the polling areas is finished or not, if so, the polling is stopped, and a next polling instruction is waited, otherwise, the first position module is triggered again until all the polling areas are traversed;
the detection module is used for splicing all the images received by the background server, generating a plurality of images which are shot in the inspection area and are formed by inspecting the 360-degree complete inspection image of the power pipe gallery, and performing power safety detection on the generated complete inspection image.
7. The power pipe corridor orbital robot inspection device according to claim 6, further comprising:
the light filling module is used for detecting whether the light intensity of the power pipe gallery to be patrolled and examined meets the shooting light intensity of the track robot, if not, the light filling lamp on the track robot is opened.
8. The power pipe gallery rail robot inspection device of claim 6, further comprising between the area dividing module and the first position module:
and the initialization module is used for adjusting the shooting angle of the video holder of the track robot and the height of the mechanical arm and initializing the pose of the track robot.
9. The power pipe corridor orbital robot inspection device according to claim 6, wherein the first control module and the second control module are further configured to:
and carrying out electric power safety detection of the single inspection area on the image.
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| CN110705849A (en) * | 2019-09-18 | 2020-01-17 | 南方电网科学研究院有限责任公司 | Inspection robot effect evaluation method and system, storage medium and robot |
| CN111550660A (en) * | 2020-05-07 | 2020-08-18 | 中自机器人技术(安庆)有限公司 | Portable piping lane inspection robot |
| CN111633660A (en) * | 2020-06-15 | 2020-09-08 | 吴洪婷 | Intelligent inspection robot |
| CN112329958A (en) * | 2020-11-27 | 2021-02-05 | 国网电力科学研究院武汉南瑞有限责任公司 | Auxiliary analysis method for movement perception of cables in pipe gallery |
| CN116614696B (en) * | 2023-07-20 | 2023-10-10 | 合肥优尔电子科技有限公司 | Multi-row frame electric power pipe gallery inspection robot |
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